Inheritance diagram for SolAR::base::geom::AReprojectionStereo:

Collaboration diagram for SolAR::base::geom::AReprojectionStereo:

Public Member Functions
	AReprojectionStereo (std::map< std::string, std::string > componentInfosMap)
	AReprojectionStereo constructor.

virtual FrameworkReturnCode	reprojectToUnrectification (const std::vector< SolAR::datastructure::Keypoint > &rectifiedKeypoints, const SolAR::datastructure::RectificationParameters &rectParams, std::vector< SolAR::datastructure::Keypoint > &unrectifiedKeypoints) override
	Reproject depth of rectified keypoints to unrectified keypoints. More...

virtual FrameworkReturnCode	reprojectToCloudPoints (const std::vector< SolAR::datastructure::Keypoint > &undistortedKeypoints, const SRef< SolAR::datastructure::DescriptorBuffer > descriptors, const SolAR::datastructure::Transform3Df &pose, const SolAR::datastructure::CamCalibration &intrinsicParams, std::vector< SRef< SolAR::datastructure::CloudPoint > > &cloudPoints) override
	Reproject 2D keypoints with depths to 3D cloud points in the world coordinate system. More...

virtual FrameworkReturnCode	reprojectToCloudPoints (SRef< SolAR::datastructure::Frame > frame, const SolAR::datastructure::CamCalibration &intrinsicParams, std::vector< SRef< SolAR::datastructure::CloudPoint > > &cloudPoints) override
	Reproject 2D keypoints with depths of a frame to 3D cloud points in the world coordinate system. More...

Public Member Functions inherited from SolAR::api::geom::IReprojectionStereo
	IReprojectionStereo ()=default
	IReprojectionStereo constructor.

virtual	~IReprojectionStereo ()=default
	~IReprojectionStereo

Member Function Documentation

◆ reprojectToCloudPoints() [1/2]

virtual FrameworkReturnCode SolAR::base::geom::AReprojectionStereo::reprojectToCloudPoints	(	const std::vector< SolAR::datastructure::Keypoint > &	undistortedKeypoints,
		const SRef< SolAR::datastructure::DescriptorBuffer >	descriptors,
		const SolAR::datastructure::Transform3Df &	pose,
		const SolAR::datastructure::CamCalibration &	intrinsicParams,
		std::vector< SRef< SolAR::datastructure::CloudPoint > > &	cloudPoints
	)

inlineoverridevirtual

Reproject 2D keypoints with depths to 3D cloud points in the world coordinate system.

Parameters

[in]	undistortedKeypoints	The undistorted keypoints of image.
[in]	descriptors	The descriptors corresponding to the keypoints.
[in]	pose	The pose of image.
[in]	intrinsicParams	The intrinsic parameters of the camera.
[out]	cloudPoints	The output cloud points.

Returns: FrameworkReturnCode::SUCCESS if reprojecting succeed, else FrameworkReturnCode::_ERROR

FrameworkReturnCode SolAR::base::geom::AReprojectionStereo::reprojectToCloudPoints	(	SRef< SolAR::datastructure::Frame >	frame,
		const SolAR::datastructure::CamCalibration &	intrinsicParams,
		std::vector< SRef< SolAR::datastructure::CloudPoint > > &	cloudPoints
	)

overridevirtual

Reproject 2D keypoints with depths of a frame to 3D cloud points in the world coordinate system.

Parameters

[in]	frame	The frame including keypoints with their depth estimations.
[in]	intrinsicParams	The intrinsic parameters of the camera.
[out]	cloudPoints	The output cloud points.

Returns: FrameworkReturnCode::SUCCESS if reprojecting succeed, else FrameworkReturnCode::_ERROR

virtual FrameworkReturnCode SolAR::base::geom::AReprojectionStereo::reprojectToUnrectification	(	const std::vector< SolAR::datastructure::Keypoint > &	rectifiedKeypoints,
		const SolAR::datastructure::RectificationParameters &	rectParams,
		std::vector< SolAR::datastructure::Keypoint > &	unrectifiedKeypoints
	)

inlineoverridevirtual

Reproject depth of rectified keypoints to unrectified keypoints.

Parameters

[in]	rectifiedKeypoints	The rectified keypoints containing depth information.
[in]	rectParams	The rectification parameters.
[out]	unrectifiedKeypoints	The unrectified keypoints for estimating depth information.

Returns: FrameworkReturnCode::SUCCESS if reprojecting succeed, else FrameworkReturnCode::_ERROR

The documentation for this class was generated from the following files: